YASKAWA SVC - Page 220

4.2 Motion Command Details
4.2.16 PRM_RD (Read SERVOPACK Parameter)
4
Motion Control Program Commands and Instructions
4-77
 Monitor Parameters
Timing Charts
 Normal Completion
 Error Completion
OW09
Bit 8
SERVOPACK Parame-
ter Access Selection
Use this bit to select the parameter to read.
0: Vendor-specific parameters
1: Common parameters
OW
50
SERVOPACK Parame-
ter Number
Set the number of the SERVOPACK parameter to read.
OW
51
SERVOPACK Parame-
ter Size
Set the size of the SERVOPACK parameter to read.
Set the size in words.
Example: For 4 bytes, set this parameter to 2.
Register
Address
Name Monitored Contents
IL
02 Warnings This parameter reports the current warning status.
IL04 Alarms This parameter reports the current alarm status.
IW
08
Motion Command
Response Code
This parameter shows the motion command currently in execution.
This parameter is 17 during execution of the PRM_RD command.
IW
09
Bit 0
Command Execu-
tion Flag
This bit is 1 (Processing) during execution of the PRM_RD command.
The bit changes to 0 (Completed) when execution ends.
IW
09
Bit 1
Command Hold
Completed
This bit is always 0 (Command hold not completed) for the PRM_RD
command.
IW09
Bit 3
Command Error End
This bit changes to 1 (Completed with an error) when an error occurs
during execution of the PRM_RD command.
The axis will decelerate to a stop if it is moving. This bit changes to 0
(Completed normally) when another command is executed.
IW
09
Bit 8
Command Execu-
tion Completed
This bit changes to 1 (Normal execution completed) when execution of
the PRM_RD command ends.
IW
36
SERVOPACK
Parameter Number
This parameter stores the number of the SERVOPACK parameter that
was read.
IL
38
SERVOPACK
Parameter Read
Data
This parameter stores the data of the SERVOPACK parameter that was
read.
Continued from previous page.
Register
Address
Name Setting Details
OW08 = 17 (PRM_RD)
IW08 = 17 (PRM_RD)
IW09 Bit 0 (BUSY)
IW09 Bit 8 (COMPLETE)
IW09 Bit 3 (FAIL)
This interval is
not constant.
OW08 = 17 (PRM_RD)
IW08 = 17 (PRM_RD)
IW09 Bit 0 (BUSY)
IW09 Bit 8 (COMPLETE)
IW09 Bit 3 (FAIL)
This interval is
not constant.